直线永磁同步伺服电机H∞鲁棒位置控制器设计

对于直线永磁同上伺服电机伺服系统，提出了一种高精度的H∞鲁棒位置控制器，其中，使用H∞鲁棒控制理论设计反馈控制器，在保证闭环系统稳定的前提下，抑制模型摄动及外部干扰对系统的影响；针对被控对象的称模型设计IP积分－比例位置控制器，以满足位置系统性能要求，设计的控制器既保证了系统的鲁棒性，又保证了系统的跟踪性能，仿真结果表明了提出方案的合理性和有效性。

H∞ robust position controller design for linear permanent magnet synchronous servo motor

his paper presents a high-accuracy H∞ robust position controller for linear permanent magnet synchronous servo motor (LPMSM). We use H∞ control theory to design a feedback controller so as to restrain the model perturbance and the external disturbance on the premise of guaranteeing stability of the closed-loop system. And we design a IP controller based on nominal model of the plant so as to meet the position system′s performance requirement. The designed controller not only guarantees system′s robustness but also system′s following performance. The results of simulation show that the controller presented is reasonable and effective.